Hierarchical Needs Based Self-Adaptive Framework For Cooperative Multi-Robot System
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Research in multi-robot and swarm systems has seen significant interest in cooperation and coordination of agents in complex and dynamic environments. To effectively adapt to unknown environments and maximize the utility of the group, robots need to cooperate, share their information, and make a suitable plan according to the specific scenario. Inspired by Maslow's hierarchy of needs and systems theory, we present Robot's Need Hierarchy and propose a new framework called Self-Adaptive Swarm System (SASS) combining multi-robot perception, communication, planning and execution. To manage the conflicts during cooperation, we design a Negotiation-Agreement Mechanism based robot's need priority. We also provide several Atomic Operations to decompose the complex tasks into simple executable behaviors. Finally, we evaluate SASS through simulating static and dynamic tasks and comparing them with the state-of-the-art collision-aware task assignment method integrated into our framework.
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